EP1516850B1 - Capteur, dispositif d'actionnement et machine de travail - Google Patents

Capteur, dispositif d'actionnement et machine de travail Download PDF

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Publication number
EP1516850B1
EP1516850B1 EP04104323.3A EP04104323A EP1516850B1 EP 1516850 B1 EP1516850 B1 EP 1516850B1 EP 04104323 A EP04104323 A EP 04104323A EP 1516850 B1 EP1516850 B1 EP 1516850B1
Authority
EP
European Patent Office
Prior art keywords
jib
working machine
working
sensor
machine according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP04104323.3A
Other languages
German (de)
English (en)
Other versions
EP1516850A1 (fr
Inventor
Richard Gary Rokusek
Gregory Keith Werner
Scott Joseph Breiner
Daniel Lawrence Pflieger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Deere and Co
Original Assignee
Deere and Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere and Co filed Critical Deere and Co
Publication of EP1516850A1 publication Critical patent/EP1516850A1/fr
Application granted granted Critical
Publication of EP1516850B1 publication Critical patent/EP1516850B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
    • E02F3/432—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude
    • E02F3/433—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like for keeping the bucket in a predetermined position or attitude horizontal, e.g. self-levelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/436—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like for keeping the dipper in the horizontal position, e.g. self-levelling
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20576—Elements
    • Y10T74/20636—Detents
    • Y10T74/20666—Lever engaging

Definitions

  • the invention relates to a work machine with a boom and with a sensor device for determining the position of the boom, with a follower arm and a position sensor, wherein the follower arm cooperates with the boom and the position sensor such that the position sensor can detect an angular position of the boom.
  • the height and angle, or generally the position of a working means must be visually estimated and manually maintained at an approximately constant range. This is tiring for a normal operator.
  • individual positions that is, heights and angular positions of the working means, are preset at the factory to allow the working means to be automatically brought to certain positions when an operator instructs, for example, by pressing a button, a movement of a grip or some other simple movement.
  • ejection positions of the implement may be changed or adjusted by an operator from inside or outside a cab.
  • the US-A-4,015,729 shows an automatic control system for a backhoe with a boom provided on a boom.
  • the control system has means for detecting the position of the boom with a potentiometer, which communicates via a linkage with the boom, on.
  • the US-A-4,499,541 shows a potentiometer having a sensor device for determining a due to a load from the vertical deviating angular position of a boom of a forklift
  • the position sensor may be formed as a particular electronic sensor, which is preferably mechanically connected to the follower arm directly or indirectly, for example via levers or in particular via the follower arm.
  • the position sensor may be a potentiometer, or the position sensor may include a potentiometer.
  • the working machine preferably has an adjusting device.
  • an adjusting device for at least substantially automatic positioning of at least one jib and / or working means connected to the jib for example an excavator bucket, an excavator bucket, a fork, etc. of a working machine, in particular a working vehicle, may have such a sensor device that these too one has simplified structure and improved handling.
  • the actuating device may comprise an actuating means, preferably in the manner of a lever, in particular a hand-operable lever with at least one locking position by means of which the boom can be positioned, at least one actuating means, preferably a switch, and a memory unit which upon actuation of the actuating means at least a first of the Detected sensor device, corresponding to the instantaneous position of the cantilever stores value, and that the adjusting device brings the boom at least in a position corresponding to the first value stored position when the actuating means assumes its locking position.
  • the adjusting device can release the adjusting means from its locking position when the boom reaches the position corresponding to the stored value.
  • the adjusting device can interact with the actuating means in such a way that it can leave its locking position or be released as a function of at least one signal supplied by the data processing system.
  • the data processing system based on the value and a distance of the working fluid from a center of rotation of the boom calculates a working height of the working means that means are provided for inputting the height of the working means in the data processing system and that in particular the position of the Cantilever and a corresponding value is stored.
  • a display device is provided, then these display at least the input and / or at least the stored value.
  • This display device can for example also be integrated into an already existing display device or provided separately.
  • the work machine may also be a stationary work machine.
  • the work machine may be, for example, a construction equipment or vehicle, such as a loader, excavator or crane, an agricultural or industrial work machine, such as a tractor with a boom, a front loader, a backhoe or a telescopic loader, or any be another suitably trained work machine.
  • a work machine may have one or more arms.
  • the boom (s) can be permanently or detachably connected to the work machine.
  • the boom can at one end be connected directly or indirectly with a working means and at the other end directly or indirectly with a support provided on a frame of the working machine or the working machine, preferably pivotably about at least one in particular at least substantially horizontal axis.
  • the working means may be, for example, an excavator bucket, a bucket, a fork, a transport device, etc.
  • a method for the automatic positioning of a cantilever of such a work machine determines at least one position or a rotational or angular position of the cantilever by means of the sensor device, stores at least one determined by the sensor device position, preferably by means of the adjusting device or a control or storage unit of the actuating device and preferably moves the boom at least stored in this position when the actuating means or the lever is in its locking position or is brought into this or has been.
  • a sensor device, an adjusting device and a working machine are provided whose handling is less tiring for an operator and / or which is simple and inexpensive.
  • a position of a boom can be tracked or determined in a simplified manner.
  • an angle sensor is provided, which has a spring-loaded follower arm, which is permanently or in all positions in contact with the boom or held.
  • the follower arm pivots as the position of the cantilever changes and causes a change in electrical characteristic of an electromechanical device, such as a potentiometer. This change in the electrical characteristic is communicated to a signal processing device or an on-board computer, such as a chassis control unit and / or an operator.
  • an actuating means in particular an operating lever of the boom, can be used by the operator to operate the boom from an operator platform or from a cab.
  • Such adjusting means preferably has at least one locking or locking position in a known manner.
  • the boom can be automatically brought into a set or stored position in which the adjusting means is brought into this locking position. If the boom has reached this position, which corresponds to the stored value, the Control unit, a signal to release the actuating means from the locking position and to allow him to return to a neutral position. In this way, the movement of the boom stops at a release of the actuating means.
  • Such a sensor and / or adjusting device is very simple and requires no linkage system between the sensor and the boom, as is common in known systems. In this way, the sensor device can be mounted with a minimum of effort on changes to the work machine, since it is firmly connected to a portion of the vehicle and connected to the actuator by means of cables or wirelessly.
  • a transmission of the values to the control unit can be achieved via flexible, electrical cables or wirelessly by means of electrical waves.
  • FIG. 1 shows a work machine in the manner of a construction vehicle, on which the present invention can be used.
  • the work machine illustrated in the figure is an articulated four wheel drive loader with a vehicle body 10 having a front vehicle area 100 pivotally connected to a rear vehicle area 200 via vertical pivot bearings 220, the work machine pivoting the forward one Vehicle region 100 is directed relative to the rear vehicle portion 200 in a known manner.
  • the front and rear vehicle sections 100 and 200 are respectively disposed on front drivable wheels 101 and rear driveable wheels 201.
  • a driver platform 210 is provided, which is arranged substantially above the pivot bearing 220.
  • the front vehicle area 100 has a carrier 120 with a right-hand carrier area 120a and a left-hand carrier area 120b.
  • the front and rear drivable wheels 101 and 201 move the work machine over the ground and are driven in a known manner.
  • Attached to the front vehicle area 100 is a boom 110 having corresponding first and second boom arms 110a and 110b.
  • the first and second cantilever arms 110a and 110b are provided with a cross tube 111 connected to both the first cantilever arm 110a and the second cantilever arm 110b welded, connected.
  • a rear end portion of the boom 110 is attached to the carrier 102 by means of radial bearings 125, and a loader 115 is attached to a front end portion of the boom 110 by means of radial bearings 116.
  • the boom 110 is pivoted about the transverse bearings 125 by means of hydraulic lifting cylinders (not shown).
  • FIG. 2 shows an exemplary embodiment of a boom position determination device according to the invention, which is referred to below as the sensor device 300, which is provided on the carrier 120.
  • the sensor device 300 is attached to a sidewall 121 of the cantilever 120 by means of screws 301.
  • a spring-loaded follower arm 312 is urged against the underside of the first extension arm 110a such that the follower arm 312 exerts pressure on the first extension arm 110a in all rotational positions.
  • the spring-loaded follower arm 312 as shown in the FIGS. 3 and 4 is shown, according to this embodiment, in all rotational positions of the boom 110 on the underside of the cantilever arm 110a, without that he would have to be physically attached to the cantilever arm 110 and without creating the associated expense.
  • FIG. 5 shows an exemplary embodiment of the sensor device 300 according to the invention FIG. 5
  • the sensor device 300 has a sensor carrier 309, a follower assembly 310 and a potentiometer assembly or a position sensor 306.
  • the sensor carrier 309 has a first region 302 and a second region 303, wherein the first and the second region 302, 303 are firmly connected to one another by means of screws 304a and lock nuts 302b.
  • the first area 302 has an L-shaped terminal area 302a and a C-shaped terminal area 304b.
  • the L-shaped terminal portion 302a has two recesses 301a for fixing the entire sensor device 300 to the side wall 121 of the carrier 120 by means of the screws 301.
  • it has two recesses 304a for attaching the first portion 302 to the second portion 303 by means of the screws 304a and the lock nuts 304b.
  • the C-shaped terminal portion 302b has two recesses 307a for mounting the position sensor 306 by means of lock nuts 306e and screws 306c and a third recess 306j to allow passage of a shaft 316 through a wall of the C-shaped portion 302b and into the potentiometer 306b , Finally, the C-shaped terminal portion 302b has an anchor bolt recess 320a for mounting a spring anchor bolt subassembly 320.
  • the second connection region 303 has two recesses 304b for fastening the first region 302 to the second region 303.
  • the second region 303 further comprises two additional recesses 315a and 316a.
  • an abutment 315 is provided at the recess 315a in order to limit the rotational movement of the follower arm 312.
  • a shaft bearing 310 a is pressed in order to improve the rotational movement of the shaft 316 and to limit an axial movement of a spring bearing 318.
  • washers 317 are provided on each side of the spring bearing 318.
  • a first end portion of the follower arm 312 is press fit onto the shaft 316 at a location adjacent the spring bearing 318 on the shaft 316.
  • a circlip is disposed in a groove 316a toward a second end portion of the shaft 316 to secure the washers 317 and the spring bearing 318, as well as to limit axial movement of the shaft 316.
  • a first end portion of a torsion spring 314 is anchored to an anchor bolt 320, while a second end portion of the spring 314 urges and urges the follower arm 312 against a lower surface of the first extension arm 110a.
  • At one second end portion of the cantilever arm 312 is provided with a roller assembly 313 having a roller 313a and a bearing 313d, as well as a screw 313b and a lock nut 313c, to prevent any movement of the roller 313a and the bearing 313d relative to the screw 313b except for rotational movement to limit.
  • the follower assembly 310 includes the follower arm 312, the spring 314, the shaft 316a, the shaft bearing 310a, a plurality of washers 317, the circlip 330, and the spring bearing 318.
  • a potentiometer assembly or position sensor 306 which has a holder area 306a and a sensor area or potentiometer 306b.
  • the holder portion 306a and the potentiometer 306b are attached to opposite side portions 302c of the C-shaped accommodation portion 302 via screws 306c, washers 306d, and lock nuts 306e.
  • washers 302f made of rubber are disposed between the side portion 302c and the potentiometer 306b as a seal against environmental influences.
  • the second end portion of the shaft 316 extends through a recess 306g in the holder portion 306a and into a recess 306h in the potentiometer 306b, where it is conventionally held in a conventional rotor (for example by means of a feather key connection). such that a change in the angle of the shaft 316 results in a proportional change in the resistance of the potentiometer 306b.
  • the signal detected by the sensor device 300 is transmitted via electric wires or wirelessly by means of electromagnetic waves to a chassis control unit 500 transferred.
  • a first toggle switch or a first actuating means 601 and a second toggle switch or a second actuating means 602 are activated by pressing.
  • the actuation of the first actuator 601 and / or the second actuator 602 transmits a momentary signal to the controller 500 which causes the controller 500 to store the current signal value of the sensor device 300.
  • the control unit 500 compares the signal stored by a latch 510 with the signal detected by the sensor device 30 and sends a signal to release a control lever 700 from a locked position, when the stored one Signal corresponds approximately to the detected signal.
  • the control unit 500 or the memory unit 510 is able to store further determined values, that is, after having stored a value for the first actuating means 601, it can store a further value for the second actuating means 602. In this way, boom ejection position values and transport position values may coexist in the control unit 500 and the storage unit 510, respectively, thereby increasing the convenience and ease of operation of the work implement.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Operation Control Of Excavators (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (9)

  1. Machine de travail, notamment véhicule de travail de préférence à conduite automatique, avec une potence (110) et avec un dispositif de détection (300), servant à calculer la position de la potence (110), avec un bras suiveur (312) et un capteur de position (306), le bras suiveur (312) entrant en interaction avec la potence (110) et le capteur de position (306) de telle sorte que le capteur de position (306) peut calculer une position angulaire de la potence (110), caractérisée par la présence d'un dispositif de ressort (314) sollicitant le bras suiveur (312) de façon à maintenir durablement ce dernier en contact avec la potence (110) au moins en situation de fonctionnement de l'équipement.
  2. Machine de travail selon la revendication 1, caractérisée en ce que le capteur de position (306) est un capteur électronique relié de préférence directement ou indirectement sur le plan mécanique au bras suiveur (110) et/ou prenant notamment la forme d'un potentiomètre (2O6b) et/ou comportant un potentiomètre (206b).
  3. Machine de travail selon la revendication 1 ou 2, caractérisée par la présence d'un dispositif de réglage servant au positionnement au moins pour l'essentiel automatique de la potence (110) au moins et/ou d'un moyen de travail (115) relié à la potence (110).
  4. Machine de travail selon la revendication 3, caractérisée en ce que le dispositif de réglage est un moyen de réglage (700), de préférence du type d'un levier pouvant notamment être actionné à la main avec au moins une position d'arrêt, à l'aide duquel la potence (110) peut être positionnée, comportant au moins un moyen d'actionnement (601, 602), de préférence un contacteur, et une unité de mémoire (510) mémorisant lors de l'actionnement du moyen d'actionnement (601, 602) au moins une première valeur calculée par le dispositif de détection (300) et correspondant à la position instantanée de la potence (110) et que le dispositif de réglage amène la potence (110) au moins dans une position correspondant à la première valeur mémorisée lorsque le moyen de réglage (700) prend sa position d'arrêt.
  5. Machine de travail selon la revendication 4, caractérisée en ce que le moyen de réglage (700) est libéré de sa position d'arrêt lorsque la potence (110) atteint la position correspondant à la valeur mémorisée.
  6. Machine de travail selon l'une quelconque des revendications 3 à 5 ou plusieurs d'entre elles, caractérisée par la présence d'une installation de traitement de données pouvant entrer de telle sorte en interaction avec le moyen de réglage (700) que ce dernier peut être libéré et/ou quitter sa position d'arrêt en fonction d'au moins un signal émis par l'installation de traitement de données.
  7. Machine de travail selon la revendication 6, caractérisée en ce que l'installation de traitement de données calcule une hauteur de travail du moyen de travail (115) sur la base de la valeur et d'une distance du moyen de travail (115) par rapport à un centre de rotation de la potence (110), que des moyens de saisie de la hauteur du moyen de travail (115) sont prévus dans l'installation de traitement de données et que l'installation de traitement de données peut calculer la position de la potence (110), notamment sur la base de la saisie, et peut mémoriser une valeur correspondante.
  8. Machine de travail selon l'une quelconque des revendications 3 à 7 ou plusieurs d'entre elles, caractérisée par la présence d'un dispositif d'affichage servant de préférence à l'affichage de la saisie et/ou au moins de la valeur mémorisée.
  9. Machine de travail selon au moins l'une quelconque des revendications précédentes ou plusieurs d'entre elles, caractérisée en ce que la potence (110) est rattachée d'une part directement ou indirectement à un moyen de travail (115) et d'autre part directement ou indirectement à un support (120) prévu au niveau d'un cadre de la machine de travail et/ou au niveau de la machine de travail, de préférence de façon à pouvoir pivoter notamment au moins autour de l'axe pour l'essentiel horizontal.
EP04104323.3A 2003-09-12 2004-09-08 Capteur, dispositif d'actionnement et machine de travail Expired - Lifetime EP1516850B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US10/661,166 US7344351B2 (en) 2003-09-12 2003-09-12 Electronic boom height sensor
US661166 2003-09-12

Publications (2)

Publication Number Publication Date
EP1516850A1 EP1516850A1 (fr) 2005-03-23
EP1516850B1 true EP1516850B1 (fr) 2013-10-09

Family

ID=34194706

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04104323.3A Expired - Lifetime EP1516850B1 (fr) 2003-09-12 2004-09-08 Capteur, dispositif d'actionnement et machine de travail

Country Status (6)

Country Link
US (1) US7344351B2 (fr)
EP (1) EP1516850B1 (fr)
JP (1) JP4395015B2 (fr)
AU (1) AU2004202845B2 (fr)
CA (1) CA2481137C (fr)
ES (1) ES2433125T3 (fr)

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US20100215469A1 (en) * 2007-06-15 2010-08-26 Boris Trifunovic Electronic Parallel Lift And Return To Dig On A Backhoe Loader
US8500387B2 (en) * 2007-06-15 2013-08-06 Deere & Company Electronic parallel lift and return to carry or float on a backhoe loader
US20100254793A1 (en) * 2007-06-15 2010-10-07 Boris Trifunovic Electronic Anti-Spill
WO2008153533A1 (fr) * 2007-06-15 2008-12-18 Deere & Company Anti-renversement et levage parallèles électronique sur une chargeuse-pelleteuse
JP4918888B2 (ja) * 2007-06-19 2012-04-18 セイコーエプソン株式会社 メディア処理装置及びその制御方法
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JP5453205B2 (ja) * 2010-09-14 2014-03-26 日立建機株式会社 作業機械
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JP5707313B2 (ja) 2011-12-19 2015-04-30 日立建機株式会社 作業車両
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DE102015004819A1 (de) * 2015-04-14 2016-10-20 Liebherr-Werk Bischofshofen Gmbh Arbeitsmaschine
PE20230969A1 (es) * 2015-05-28 2023-06-16 Joy Global Longview Operations Llc Maquina de mineria y sistema de almacenamiento de energia para la misma
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Also Published As

Publication number Publication date
CA2481137A1 (fr) 2005-03-12
US20050058530A1 (en) 2005-03-17
ES2433125T3 (es) 2013-12-09
AU2004202845A1 (en) 2005-04-07
CA2481137C (fr) 2008-05-20
AU2004202845B2 (en) 2010-01-07
JP2005090217A (ja) 2005-04-07
EP1516850A1 (fr) 2005-03-23
US7344351B2 (en) 2008-03-18
JP4395015B2 (ja) 2010-01-06

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